Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
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3. The Tricycle Robot: A Mobile Programmable ‘Drive-by-Wire’ Electric Vehicle
Nickols, Francis, and Lin, Yueh-Jaw. "The Tricycle Robot: A Mobile Programmable ‘Drive-by-Wire’ Electric Vehicle." Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots. Ed. Francis Nickols, and Yueh-Jaw Lin. ASME Press, 2019.
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A forerunner to (i) hexapod and vehicle motion behaviour patterns in a ground plane and (ii) the use of piecewise truncated Taylor series to solve complicated equations using integer numbers
Description of tricycle components
The tricycle microcomputer system
The dual push-rod mechanism that actuates the tricycle drive wheel
Kinematic analysis of the push-rod mechanism
So, what can Basic Stamp microcomputers compute?
Wheel servo computation algorithm to rotate drive wheel
How to compute servo angles, LS and RS using the Basic Stamp microcomputer
Basic Stamp 16-bit integer accurate computational method
Making the equations in table 3.2 suitable for the Basic Stamp microcomputer
The Tricycle steering system
A Planar Odometer that computes vehicle location coordinates, x, y, ϕ
Odometer algorithm to compute x, y and ϕ
Programming of the tricycle to undertake a figure-of-eight locomotion path
Some tips for odometer computing with the Basic Stamp
Complete PBasic figure-of-eight programming code listing with comments and explanations
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